/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_MATH_MASSMATRIX3_HH_
#define GZ_MATH_MASSMATRIX3_HH_

#include <algorithm>
#include <cmath>
#include <limits>
#include <string>
#include <vector>

#include <gz/math/config.hh>
#include "gz/math/Helpers.hh"
#include "gz/math/Material.hh"
#include "gz/math/Quaternion.hh"
#include "gz/math/Vector2.hh"
#include "gz/math/Vector3.hh"
#include "gz/math/Matrix3.hh"

namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  /// \class MassMatrix3 MassMatrix3.hh gz/math/MassMatrix3.hh
  /// \brief A class for inertial information about a rigid body
  /// consisting of the scalar mass and a 3x3 symmetric moment
  /// of inertia matrix stored as two Vector3's.
  template<typename T>
  class MassMatrix3
  {
    /// \brief Default Constructor, which initializes the mass and moments
    /// to zero.
    public: MassMatrix3() : mass(0)
    {}

    /// \brief Constructor.
    /// \param[in] _mass Mass value in kg if using metric.
    /// \param[in] _ixxyyzz Diagonal moments of inertia.
    /// \param[in] _ixyxzyz Off-diagonal moments of inertia
    public: MassMatrix3(const T &_mass,
                        const Vector3<T> &_ixxyyzz,
                        const Vector3<T> &_ixyxzyz)
    : mass(_mass), Ixxyyzz(_ixxyyzz), Ixyxzyz(_ixyxzyz)
    {}

    /// \brief Set the mass.
    /// \param[in] _m New mass value.
    /// \return True if the MassMatrix3 is valid.
    public: bool SetMass(const T &_m)
    {
      this->mass = _m;
      return this->IsValid();
    }

    /// \brief Get the mass
    /// \return The mass value
    public: T Mass() const
    {
      return this->mass;
    }

    /// \brief Set the moment of inertia matrix.
    /// \param[in] _ixx X second moment of inertia (MOI) about x axis.
    /// \param[in] _iyy Y second moment of inertia about y axis.
    /// \param[in] _izz Z second moment of inertia about z axis.
    /// \param[in] _ixy XY inertia.
    /// \param[in] _ixz XZ inertia.
    /// \param[in] _iyz YZ inertia.
    /// \return True if the MassMatrix3 is valid.
    public: bool SetInertiaMatrix(
                const T &_ixx, const T &_iyy, const T &_izz,
                const T &_ixy, const T &_ixz, const T &_iyz)
    {
      this->Ixxyyzz.Set(_ixx, _iyy, _izz);
      this->Ixyxzyz.Set(_ixy, _ixz, _iyz);
      return this->IsValid();
    }

    /// \brief Get the diagonal moments of inertia (Ixx, Iyy, Izz).
    /// \return The diagonal moments.
    public: Vector3<T> DiagonalMoments() const
    {
      return this->Ixxyyzz;
    }

    /// \brief Get the off-diagonal moments of inertia (Ixy, Ixz, Iyz).
    /// \return The off-diagonal moments of inertia.
    public: Vector3<T> OffDiagonalMoments() const
    {
      return this->Ixyxzyz;
    }

    /// \brief Set the diagonal moments of inertia (Ixx, Iyy, Izz).
    /// \param[in] _ixxyyzz diagonal moments of inertia
    /// \return True if the MassMatrix3 is valid.
    public: bool SetDiagonalMoments(const Vector3<T> &_ixxyyzz)
    {
      this->Ixxyyzz = _ixxyyzz;
      return this->IsValid();
    }

    /// \brief Set the off-diagonal moments of inertia (Ixy, Ixz, Iyz).
    /// \param[in] _ixyxzyz off-diagonal moments of inertia
    /// \return True if the MassMatrix3 is valid.
    public: bool SetOffDiagonalMoments(const Vector3<T> &_ixyxzyz)
    {
      this->Ixyxzyz = _ixyxzyz;
      return this->IsValid();
    }

    /// \brief Get IXX
    /// \return IXX value
    public: T Ixx() const
    {
      return this->Ixxyyzz[0];
    }

    /// \brief Get IYY
    /// \return IYY value
    public: T Iyy() const
    {
      return this->Ixxyyzz[1];
    }

    /// \brief Get IZZ
    /// \return IZZ value
    public: T Izz() const
    {
      return this->Ixxyyzz[2];
    }

    /// \brief Get IXY
    /// \return IXY value
    public: T Ixy() const
    {
      return this->Ixyxzyz[0];
    }

    /// \brief Get IXZ
    /// \return IXZ value
    public: T Ixz() const
    {
      return this->Ixyxzyz[1];
    }

    /// \brief Get IYZ
    /// \return IYZ value
    public: T Iyz() const
    {
      return this->Ixyxzyz[2];
    }

    /// \brief Set IXX
    /// \param[in] _v IXX value
    /// \return True if the MassMatrix3 is valid.
    public: bool SetIxx(const T &_v)
    {
      this->Ixxyyzz.X(_v);
      return this->IsValid();
    }

    /// \brief Set IYY
    /// \param[in] _v IYY value
    /// \return True if the MassMatrix3 is valid.
    public: bool SetIyy(const T &_v)
    {
      this->Ixxyyzz.Y(_v);
      return this->IsValid();
    }

    /// \brief Set IZZ
    /// \param[in] _v IZZ value
    /// \return True if the MassMatrix3 is valid.
    public: bool SetIzz(const T &_v)
    {
      this->Ixxyyzz.Z(_v);
      return this->IsValid();
    }

    /// \brief Set IXY
    /// \param[in] _v IXY value
    /// \return True if the MassMatrix3 is valid.
    public: bool SetIxy(const T &_v)
    {
      this->Ixyxzyz.X(_v);
      return this->IsValid();
    }

    /// \brief Set IXZ
    /// \param[in] _v IXZ value
    /// \return True if the MassMatrix3 is valid.
    public: bool SetIxz(const T &_v)
    {
      this->Ixyxzyz.Y(_v);
      return this->IsValid();
    }

    /// \brief Set IYZ
    /// \param[in] _v IYZ value
    /// \return True if the MassMatrix3 is valid.
    public: bool SetIyz(const T &_v)
    {
      this->Ixyxzyz.Z(_v);
      return this->IsValid();
    }

    /// \brief returns Moments of Inertia as a Matrix3
    /// \return Moments of Inertia as a Matrix3
    public: Matrix3<T> Moi() const
    {
      return Matrix3<T>(
        this->Ixxyyzz[0], this->Ixyxzyz[0], this->Ixyxzyz[1],
        this->Ixyxzyz[0], this->Ixxyyzz[1], this->Ixyxzyz[2],
        this->Ixyxzyz[1], this->Ixyxzyz[2], this->Ixxyyzz[2]);
    }

    /// \brief Sets Moments of Inertia (MOI) from a Matrix3.
    /// Symmetric component of input matrix is used by averaging
    /// off-axis terms.
    /// \param[in] _moi Moments of Inertia as a Matrix3
    /// \return True if the MassMatrix3 is valid.
    public: bool SetMoi(const Matrix3<T> &_moi)
    {
      this->Ixxyyzz.Set(_moi(0, 0), _moi(1, 1), _moi(2, 2));
      this->Ixyxzyz.Set(
        0.5*(_moi(0, 1) + _moi(1, 0)),
        0.5*(_moi(0, 2) + _moi(2, 0)),
        0.5*(_moi(1, 2) + _moi(2, 1)));
      return this->IsValid();
    }

    /// \brief Equality comparison operator.
    /// \param[in] _m MassMatrix3 to copy.
    /// \return true if each component is equal within a default tolerance,
    /// false otherwise
    public: bool operator==(const MassMatrix3<T> &_m) const
    {
      return equal<T>(this->mass, _m.Mass()) &&
             (this->Ixxyyzz == _m.DiagonalMoments()) &&
             (this->Ixyxzyz == _m.OffDiagonalMoments());
    }

    /// \brief Inequality test operator
    /// \param[in] _m MassMatrix3<T> to test
    /// \return True if not equal (using the default tolerance of 1e-6)
    public: bool operator!=(const MassMatrix3<T> &_m) const
    {
      return !(*this == _m);
    }

    /// \brief Verify that inertia values are positive semidefinite
    ///
    /// \param[in] _tolerance The amount of relative error to accept when
    /// checking whether this MassMatrix3 has a valid mass and moment
    /// of inertia. Refer to Epsilon() for a description of _tolerance.
    ///
    /// \return True if mass is nonnegative and moment of inertia matrix
    /// is positive semidefinite. The following is how the return value is
    /// calculated
    ///
    /// \code
    /// const T epsilon = this->Epsilon(_tolerance);
    /// return (this->mass + epsilon >= 0) &&
    ///         (this->IXX() + epsilon  >= 0) &&
    ///         (this->IXX() * this->IYY() - std::pow(this->IXY(), 2) +
    ///          epsilon >= 0) &&
    ///         (this->Moi().Determinant() + epsilon >= 0);
    /// \endcode
    ///
    public: bool IsNearPositive(const T _tolerance =
                GZ_MASSMATRIX3_DEFAULT_TOLERANCE<T>) const
    {
      const T epsilon = this->Epsilon(_tolerance);

      // Check if mass and determinants of all upper left submatrices
      // of moment of inertia matrix are positive
      return (this->mass >= 0) &&
             (this->Ixx() + epsilon >= 0) &&
             (this->Ixx() * this->Iyy() - std::pow(this->Ixy(), 2) +
              epsilon >= 0) &&
             (this->Moi().Determinant() + epsilon >= 0);
    }

    /// \brief Verify that inertia values are positive definite
    ///
    /// \param[in] _tolerance The amount of error to accept when
    /// checking whether this MassMatrix3 has a valid mass and moment
    /// of inertia. Refer to Epsilon() for a description of _tolerance.
    ///
    /// \return True if mass is positive and moment of inertia matrix
    /// is positive definite. The following is how the return value is
    /// calculated
    ///
    /// \code
    /// const T epsilon = this->Epsilon(_tolerance);
    /// return (this->mass + epsilon > 0) &&
    ///         (this->IXX() + epsilon  > 0) &&
    ///         (this->IXX() * this->IYY() - std::pow(this->IXY(), 2) +
    ///          epsilon > 0) &&
    ///         (this->Moi().Determinant() + epsilon > 0);
    /// \endcode
    ///
    public: bool IsPositive(const T _tolerance =
                GZ_MASSMATRIX3_DEFAULT_TOLERANCE<T>) const
    {
      const T epsilon = this->Epsilon(_tolerance);

      // Check if mass and determinants of all upper left submatrices
      // of moment of inertia matrix are positive
      return (this->mass > 0) &&
             (this->Ixx() + epsilon > 0) &&
             (this->Ixx() * this->Iyy() - std::pow(this->Ixy(), 2) +
              epsilon > 0) &&
             (this->Moi().Determinant() + epsilon > 0);
    }

    ///
    /// \brief \copybrief Epsilon(const Vector3<T>&,const T)
    ///
    /// \param[in] _tolerance A factor that is used to adjust the return
    /// value. A value of zero will cause the return value to be zero.
    /// A good value is 10, which is also the
    /// MASSMATRIX3_DEFAULT_TOLERANCE.
    public: T Epsilon(const T _tolerance =
                GZ_MASSMATRIX3_DEFAULT_TOLERANCE<T>) const
    {
      return Epsilon(this->DiagonalMoments(), _tolerance);
    }

    /// \brief Get an epsilon value that represents the amount of
    /// acceptable error in a MassMatrix3. The epsilon value
    /// is related to machine precision multiplied by the largest possible
    /// moment of inertia.
    ///
    /// This function is used by IsValid(), IsNearPositive(), IsPositive(),
    /// and ValidMoments().
    ///
    /// \param[in] _moments Principal moments of inertia.
    /// \param[in] _tolerance A factor that is used to adjust the return
    /// value. A value of zero will cause the return value to be zero.
    /// A good value is 10, which is also the
    /// MASSMATRIX3_DEFAULT_TOLERANCE.
    ///
    /// \return The epsilon value computed using:
    ///
    /// \code
    /// T maxPossibleMoI = 0.5 * std::abs(_moments.Sum());
    /// return _tolerance *
    ///   std::numeric_limits<T>::epsilon() * maxPossibleMoI;
    /// \endcode
    public: static T Epsilon(const Vector3<T> &_moments,
                const T _tolerance =
                GZ_MASSMATRIX3_DEFAULT_TOLERANCE<T>)
    {
      // The following was borrowed heavily from:
      // https://github.com/RobotLocomotion/drake/blob/v0.27.0/multibody/tree/rotational_inertia.h

      // Compute the maximum possible moment of inertia, which will be
      // used to compute whether the moments are valid.
      //
      // The maximum moment of inertia is bounded by:
      // trace / 3 <= maxPossibleMoi <= trace / 2.
      //
      // The trace of a matrix is the sum of the coefficients on the
      // main diagonal. For a mass matrix, this is equal to
      // ixx + iyy + izz, or _moments.Sum() for this function's
      // implementation.
      //
      // It is okay if maxPossibleMoi == zero.
      T maxPossibleMoI = 0.5 * std::abs(_moments.Sum());

      // In order to check validity of the moments we need to use an
      // epsilon value that is related to machine precision
      // multiplied by the largest possible moment of inertia.
      return _tolerance *
        std::numeric_limits<T>::epsilon() * maxPossibleMoI;
    }

    /// \brief Verify that inertia values are positive semi-definite
    /// and satisfy the triangle inequality.
    ///
    /// \param[in] _tolerance The amount of error to accept when
    /// checking whether the MassMatrix3 has a valid mass and moment
    /// of inertia. This value is passed on to IsNearPositive() and
    /// ValidMoments(), which in turn pass the tolerance value to
    /// Epsilon(). Refer to Epsilon() for a description of _tolerance.
    ///
    /// \return True if IsNearPositive(_tolerance) and
    /// ValidMoments(this->PrincipalMoments(), _tolerance) both return true.
    public: bool IsValid(const T _tolerance =
                GZ_MASSMATRIX3_DEFAULT_TOLERANCE<T>) const
    {
      return this->IsNearPositive(_tolerance) &&
             ValidMoments(this->PrincipalMoments(), _tolerance);
    }

    /// \brief Verify that principal moments are positive
    /// and satisfy the triangle inequality.
    /// \param[in] _moments Principal moments of inertia.
    /// \param[in] _tolerance The amount of error to accept when
    /// checking whether the moments are positive and satisfy the triangle
    /// inequality. Refer to Epsilon() for a description of _tolerance.
    /// \return True if moments of inertia are positive
    /// and satisfy the triangle inequality. The following is how the
    /// return value is calculated.
    ///
    /// \code
    /// T epsilon = this->Epsilon(_tolerance);
    ///
    /// return _moments[0] + epsilon >= 0 &&
    ///   _moments[1] + epsilon >= 0 &&
    ///   _moments[2] + epsilon >= 0 &&
    ///   _moments[0] + _moments[1] + epsilon >= _moments[2] &&
    ///   _moments[1] + _moments[2] + epsilon >= _moments[0] &&
    ///   _moments[2] + _moments[0] + epsilon >= _moments[1];
    /// \endcode
    public: static bool ValidMoments(const Vector3<T> &_moments,
                const T _tolerance = GZ_MASSMATRIX3_DEFAULT_TOLERANCE<T>)
            {
              T epsilon = Epsilon(_moments, _tolerance);

              return _moments[0] + epsilon >= 0 &&
                     _moments[1] + epsilon >= 0 &&
                     _moments[2] + epsilon >= 0 &&
                     _moments[0] + _moments[1] + epsilon >= _moments[2] &&
                     _moments[1] + _moments[2] + epsilon >= _moments[0] &&
                     _moments[2] + _moments[0] + epsilon >= _moments[1];
            }

    /// \brief Compute principal moments of inertia,
    /// which are the eigenvalues of the moment of inertia matrix.
    /// \param[in] _tol Relative tolerance given by absolute value
    /// of _tol.
    /// Negative values of _tol are interpreted as a flag that
    /// causes principal moments to always be sorted from smallest
    /// to largest.
    /// \return Principal moments of inertia.
    /// If the matrix is already diagonal and _tol is positive,
    /// they are returned in the existing order.
    /// Otherwise, the moments are sorted from smallest to largest.
    public: Vector3<T> PrincipalMoments(const T _tol = 1e-6) const
    {
      // Compute tolerance relative to maximum value of inertia diagonal
      T tol = _tol * this->Ixxyyzz.Max();
      if (this->Ixyxzyz.Equal(Vector3<T>::Zero, tol))
      {
        // Matrix is already diagonalized, return diagonal moments
        return this->Ixxyyzz;
      }

      // Algorithm based on http://arxiv.org/abs/1306.6291v4
      // A Method for Fast Diagonalization of a 2x2 or 3x3 Real Symmetric
      // Matrix, by Maarten Kronenburg
      Vector3<T> Id(this->Ixxyyzz);
      Vector3<T> Ip(this->Ixyxzyz);
      // b = Ixx + Iyy + Izz
      T b = Id.Sum();
      // c = Ixx*Iyy - Ixy^2  +  Ixx*Izz - Ixz^2  +  Iyy*Izz - Iyz^2
      T c = Id[0]*Id[1] - std::pow(Ip[0], 2)
          + Id[0]*Id[2] - std::pow(Ip[1], 2)
          + Id[1]*Id[2] - std::pow(Ip[2], 2);
      // d = Ixx*Iyz^2 + Iyy*Ixz^2 + Izz*Ixy^2 - Ixx*Iyy*Izz - 2*Ixy*Ixz*Iyz
      T d = Id[0]*std::pow(Ip[2], 2)
          + Id[1]*std::pow(Ip[1], 2)
          + Id[2]*std::pow(Ip[0], 2)
          - Id[0]*Id[1]*Id[2]
          - 2*Ip[0]*Ip[1]*Ip[2];
      // p = b^2 - 3c
      T p = std::pow(b, 2) - 3*c;

      // At this point, it is important to check that p is not close
      //  to zero, since its inverse is used to compute delta.
      // In equation 4.7, p is expressed as a sum of squares
      //  that is only zero if the matrix is diagonal
      //  with identical principal moments.
      // This check has no test coverage, since this function returns
      //  immediately if a diagonal matrix is detected.
      if (p < std::pow(tol, 2))
        return b / 3.0 * Vector3<T>::One;

      // q = 2b^3 - 9bc - 27d
      T q = 2*std::pow(b, 3) - 9*b*c - 27*d;

      // delta = acos(q / (2 * p^(1.5)))
      // additionally clamp the argument to [-1,1]
      T delta = acos(clamp<T>(0.5 * q / std::pow(p, 1.5), -1, 1));

      // sort the moments from smallest to largest
      T moment0 = (b + 2*sqrt(p) * cos(delta / 3.0)) / 3.0;
      T moment1 = (b + 2*sqrt(p) * cos((delta + 2*GZ_PI)/3.0)) / 3.0;
      T moment2 = (b + 2*sqrt(p) * cos((delta - 2*GZ_PI)/3.0)) / 3.0;
      sort3(moment0, moment1, moment2);
      return Vector3<T>(moment0, moment1, moment2);
    }

    /// \brief Compute rotational offset of principal axes.
    /// \param[in] _tol Relative tolerance given by absolute value
    /// of _tol.
    /// Negative values of _tol are interpreted as a flag that
    /// causes principal moments to always be sorted from smallest
    /// to largest.
    /// \return Quaternion representing rotational offset of principal axes.
    /// With a rotation matrix constructed from this quaternion R(q)
    /// and a diagonal matrix L with principal moments on the diagonal,
    /// the original moment of inertia matrix MOI can be reconstructed
    /// with MOI = R(q).Transpose() * L * R(q)
    public: Quaternion<T> PrincipalAxesOffset(const T _tol = 1e-6) const
    {
      Vector3<T> moments = this->PrincipalMoments(_tol);
      // Compute tolerance relative to maximum value of inertia diagonal
      T tol = _tol * this->Ixxyyzz.Max();
      if (moments.Equal(this->Ixxyyzz, tol) ||
          (math::equal<T>(moments[0], moments[1], std::abs(tol)) &&
           math::equal<T>(moments[0], moments[2], std::abs(tol))))
      {
        // matrix is already aligned with principal axes
        // or all three moments are approximately equal
        // return identity rotation
        return Quaternion<T>::Identity;
      }

      // Algorithm based on http://arxiv.org/abs/1306.6291v4
      // A Method for Fast Diagonalization of a 2x2 or 3x3 Real Symmetric
      // Matrix, by Maarten Kronenburg
      // A real, symmetric matrix can be diagonalized by an orthogonal matrix
      // (due to the finite-dimensional spectral theorem
      // https://en.wikipedia.org/wiki/Spectral_theorem
      // #Hermitian_maps_and_Hermitian_matrices ),
      // and another name for orthogonal matrix is rotation matrix.
      // Section 5 of the paper shows how to compute Euler angles
      // phi1, phi2, and phi3 that map to a rotation matrix.
      // In some cases, there are multiple possible values for a given angle,
      // such as phi1, that are denoted as phi11, phi12, phi11a, phi12a, etc.
      // Similar variable names are used to the paper so that the paper
      // can be used as an additional reference.

      // f1, f2 defined in equations 5.5, 5.6
      Vector2<T> f1(this->Ixyxzyz[0], -this->Ixyxzyz[1]);
      Vector2<T> f2(this->Ixxyyzz[1] - this->Ixxyyzz[2],
                 -2*this->Ixyxzyz[2]);

      // Check if two moments are equal, since different equations are used
      // The moments vector is already sorted, so just check adjacent values.
      Vector2<T> momentsDiff(moments[0] - moments[1],
                             moments[1] - moments[2]);

      // index of unequal moment
      int unequalMoment = -1;
      if (equal<T>(momentsDiff[0], 0, std::abs(tol)))
        unequalMoment = 2;
      else if (equal<T>(momentsDiff[1], 0, std::abs(tol)))
        unequalMoment = 0;

      if (unequalMoment >= 0)
      {
        // moments[1] is the repeated value
        // it is not equal to moments[unequalMoment]
        // momentsDiff3 = lambda - lambda3
        T momentsDiff3 = moments[1] - moments[unequalMoment];
        // eq 5.21:
        // s = cos(phi2)^2 = (A_11 - lambda3) / (lambda - lambda3)
        // s >= 0 since A_11 is in range [lambda, lambda3]
        T s = (this->Ixxyyzz[0] - moments[unequalMoment]) / momentsDiff3;
        // set phi3 to zero for repeated moments (eq 5.23)
        T phi3 = 0;
        // phi2 = +- acos(sqrt(s))
        // start with just the positive value
        // also clamp the acos argument to prevent NaN's
        T phi2 = acos(clamp<T>(ClampedSqrt(s), -1, 1));

        // The paper defines variables phi11 and phi12
        // which are candidate values of angle phi1.
        // phi12 is straightforward to compute as a function of f2 and g2.
        // eq 5.25:
        Vector2<T> g2(momentsDiff3 * s, 0);
        // combining eq 5.12 and 5.14, and subtracting psi2
        // instead of multiplying by its rotation matrix:
        math::Angle phi12(0.5*(Angle2(g2, tol) - Angle2(f2, tol)));
        phi12.Normalize();

        // The paragraph prior to equation 5.16 describes how to choose
        // the candidate value of phi1 based on the length
        // of the f1 and f2 vectors.
        // * When |f1| != 0 and |f2| != 0, then one should choose the
        //   value of phi2 so that phi11 = phi12
        // * When |f1| == 0 and f2 != 0, then phi1 = phi12
        //   phi11 can be ignored, and either sign of phi2 can be used
        // * The case of |f2| == 0 can be ignored at this point in the code
        //   since having a repeated moment when |f2| == 0 implies that
        //   the matrix is diagonal. But this function returns a unit
        //   quaternion for diagonal matrices, so we can assume |f2| != 0
        //   See MassMatrix3.ipynb for a more complete discussion.
        //
        // Since |f2| != 0, we only need to consider |f1|
        // * |f1| == 0: phi1 = phi12
        // * |f1| != 0: choose phi2 so that phi11 == phi12
        // In either case, phi1 = phi12,
        // and the sign of phi2 must be chosen to make phi11 == phi12
        T phi1 = phi12.Radian();

        bool f1small = f1.SquaredLength() < std::pow(tol, 2);
        if (!f1small)
        {
          // a: phi2 > 0
          // eq. 5.24
          Vector2<T> g1a(0, 0.5*momentsDiff3 * sin(2*phi2));
          // combining eq 5.11 and 5.13, and subtracting psi1
          // instead of multiplying by its rotation matrix:
          math::Angle phi11a(Angle2(g1a, tol) - Angle2(f1, tol));
          phi11a.Normalize();

          // b: phi2 < 0
          // eq. 5.24
          Vector2<T> g1b(0, 0.5*momentsDiff3 * sin(-2*phi2));
          // combining eq 5.11 and 5.13, and subtracting psi1
          // instead of multiplying by its rotation matrix:
          math::Angle phi11b(Angle2(g1b, tol) - Angle2(f1, tol));
          phi11b.Normalize();

          // choose sign of phi2
          // based on whether phi11a or phi11b is closer to phi12
          // use sin and cos to account for angle wrapping
          T erra = std::pow(sin(phi1) - sin(phi11a.Radian()), 2)
                 + std::pow(cos(phi1) - cos(phi11a.Radian()), 2);
          T errb = std::pow(sin(phi1) - sin(phi11b.Radian()), 2)
                 + std::pow(cos(phi1) - cos(phi11b.Radian()), 2);
          if (errb < erra)
          {
            phi2 *= -1;
          }
        }

        // I determined these arguments using trial and error
        Quaternion<T> result = Quaternion<T>(-phi1, -phi2, -phi3).Inverse();

        // Previous equations assume repeated moments are at the beginning
        // of the moments vector (moments[0] == moments[1]).
        // We have the vectors sorted by size, so it's possible that the
        // repeated moments are at the end (moments[1] == moments[2]).
        // In this case (unequalMoment == 0), we apply an extra
        // rotation that exchanges moment[0] and moment[2]
        // Rotation matrix = [ 0  0  1]
        //                   [ 0  1  0]
        //                   [-1  0  0]
        // That is equivalent to a 90 degree pitch
        if (unequalMoment == 0)
          result *= Quaternion<T>(0, GZ_PI_2, 0);

        return result;
      }

      // No repeated principal moments
      // eq 5.1:
      T v = (std::pow(this->Ixyxzyz[0], 2) + std::pow(this->Ixyxzyz[1], 2)
            +(this->Ixxyyzz[0] - moments[2])
            *(this->Ixxyyzz[0] + moments[2] - moments[0] - moments[1]))
          / ((moments[1] - moments[2]) * (moments[2] - moments[0]));
      // value of w depends on v
      T w;
      if (v < std::abs(tol))
      {
        // first sentence after eq 5.4:
        // "In the case that v = 0, then w = 1."
        w = 1;
      }
      else
      {
        // eq 5.2:
        w = (this->Ixxyyzz[0] - moments[2] + (moments[2] - moments[1])*v)
            / ((moments[0] - moments[1]) * v);
      }
      // initialize values of angle phi1, phi2, phi3
      T phi1 = 0;
      // eq 5.3: start with positive value
      T phi2 = acos(clamp<T>(ClampedSqrt(v), -1, 1));
      // eq 5.4: start with positive value
      T phi3 = acos(clamp<T>(ClampedSqrt(w), -1, 1));

      // compute g1, g2 for phi2,phi3 >= 0
      // equations 5.7, 5.8
      Vector2<T> g1(
        0.5* (moments[0]-moments[1])*ClampedSqrt(v)*sin(2*phi3),
        0.5*((moments[0]-moments[1])*w + moments[1]-moments[2])*sin(2*phi2));
      Vector2<T> g2(
        (moments[0]-moments[1])*(1 + (v-2)*w) + (moments[1]-moments[2])*v,
        (moments[0]-moments[1])*sin(phi2)*sin(2*phi3));

      // The paragraph prior to equation 5.16 describes how to choose
      // the candidate value of phi1 based on the length
      // of the f1 and f2 vectors.
      // * The case of |f1| == |f2| == 0 implies a repeated moment,
      //   which should not be possible at this point in the code
      // * When |f1| != 0 and |f2| != 0, then one should choose the
      //   value of phi2 so that phi11 = phi12
      // * When |f1| == 0 and f2 != 0, then phi1 = phi12
      //   phi11 can be ignored, and either sign of phi2, phi3 can be used
      // * When |f2| == 0 and f1 != 0, then phi1 = phi11
      //   phi12 can be ignored, and either sign of phi2, phi3 can be used
      bool f1small = f1.SquaredLength() < std::pow(tol, 2);
      bool f2small = f2.SquaredLength() < std::pow(tol, 2);
      if (f1small && f2small)
      {
        // this should never happen
        // f1small && f2small implies a repeated moment
        // return invalid quaternion
        /// \todo Use a mock class to test this line
        return Quaternion<T>::Zero;
      }
      else if (f1small)
      {
        // use phi12 (equations 5.12, 5.14)
        math::Angle phi12(0.5*(Angle2(g2, tol) - Angle2(f2, tol)));
        phi12.Normalize();
        phi1 = phi12.Radian();
      }
      else if (f2small)
      {
        // use phi11 (equations 5.11, 5.13)
        math::Angle phi11(Angle2(g1, tol) - Angle2(f1, tol));
        phi11.Normalize();
        phi1 = phi11.Radian();
      }
      else
      {
        // check for when phi11 == phi12
        // eqs 5.11, 5.13:
        math::Angle phi11(Angle2(g1, tol) - Angle2(f1, tol));
        phi11.Normalize();
        // eqs 5.12, 5.14:
        math::Angle phi12(0.5*(Angle2(g2, tol) - Angle2(f2, tol)));
        phi12.Normalize();
        T err  = std::pow(sin(phi11.Radian()) - sin(phi12.Radian()), 2)
               + std::pow(cos(phi11.Radian()) - cos(phi12.Radian()), 2);
        phi1 = phi11.Radian();
        math::Vector2<T> signsPhi23(1, 1);
        // case a: phi2 <= 0
        {
          Vector2<T> g1a = Vector2<T>(1, -1) * g1;
          Vector2<T> g2a = Vector2<T>(1, -1) * g2;
          math::Angle phi11a(Angle2(g1a, tol) - Angle2(f1, tol));
          math::Angle phi12a(0.5*(Angle2(g2a, tol) - Angle2(f2, tol)));
          phi11a.Normalize();
          phi12a.Normalize();
          T erra = std::pow(sin(phi11a.Radian()) - sin(phi12a.Radian()), 2)
                 + std::pow(cos(phi11a.Radian()) - cos(phi12a.Radian()), 2);
          if (erra < err)
          {
            err = erra;
            phi1 = phi11a.Radian();
            signsPhi23.Set(-1, 1);
          }
        }
        // case b: phi3 <= 0
        {
          Vector2<T> g1b = Vector2<T>(-1, 1) * g1;
          Vector2<T> g2b = Vector2<T>(1, -1) * g2;
          math::Angle phi11b(Angle2(g1b, tol) - Angle2(f1, tol));
          math::Angle phi12b(0.5*(Angle2(g2b, tol) - Angle2(f2, tol)));
          phi11b.Normalize();
          phi12b.Normalize();
          T errb = std::pow(sin(phi11b.Radian()) - sin(phi12b.Radian()), 2)
                 + std::pow(cos(phi11b.Radian()) - cos(phi12b.Radian()), 2);
          if (errb < err)
          {
            err = errb;
            phi1 = phi11b.Radian();
            signsPhi23.Set(1, -1);
          }
        }
        // case c: phi2,phi3 <= 0
        {
          Vector2<T> g1c = Vector2<T>(-1, -1) * g1;
          Vector2<T> g2c = g2;
          math::Angle phi11c(Angle2(g1c, tol) - Angle2(f1, tol));
          math::Angle phi12c(0.5*(Angle2(g2c, tol) - Angle2(f2, tol)));
          phi11c.Normalize();
          phi12c.Normalize();
          T errc = std::pow(sin(phi11c.Radian()) - sin(phi12c.Radian()), 2)
                 + std::pow(cos(phi11c.Radian()) - cos(phi12c.Radian()), 2);
          if (errc < err)
          {
            phi1 = phi11c.Radian();
            signsPhi23.Set(-1, -1);
          }
        }

        // apply sign changes
        phi2 *= signsPhi23[0];
        phi3 *= signsPhi23[1];
      }

      // I determined these arguments using trial and error
      return Quaternion<T>(-phi1, -phi2, -phi3).Inverse();
    }

    /// \brief Get dimensions and rotation offset of uniform box
    /// with equivalent mass and moment of inertia.
    /// To compute this, the Matrix3 is diagonalized.
    /// The eigenvalues on the diagonal and the rotation offset
    /// of the principal axes are returned.
    /// \param[in] _size Dimensions of box aligned with principal axes.
    /// \param[in] _rot Rotational offset of principal axes.
    /// \param[in] _tol Relative tolerance.
    /// \return True if box properties were computed successfully.
    public: bool EquivalentBox(Vector3<T> &_size,
                               Quaternion<T> &_rot,
                               const T _tol = 1e-6) const
    {
      if (!this->IsPositive(0))
      {
        // inertia is not positive, cannot compute equivalent box
        return false;
      }

      Vector3<T> moments = this->PrincipalMoments(_tol);
      if (!ValidMoments(moments))
      {
        // principal moments don't satisfy the triangle identity
        return false;
      }

      // The reason for checking that the principal moments satisfy
      // the triangle inequality
      // I1 + I2 - I3 >= 0
      // is to ensure that the arguments to sqrt in these equations
      // are positive and the box size is real.
      _size.X(sqrt(6*(moments.Y() + moments.Z() - moments.X()) / this->mass));
      _size.Y(sqrt(6*(moments.Z() + moments.X() - moments.Y()) / this->mass));
      _size.Z(sqrt(6*(moments.X() + moments.Y() - moments.Z()) / this->mass));

      _rot = this->PrincipalAxesOffset(_tol);

      if (_rot == Quaternion<T>::Zero)
      {
        // _rot is an invalid quaternion
        /// \todo Use a mock class to test this line
        return false;
      }

      return true;
    }

    /// \brief Set inertial properties based on a Material and equivalent box.
    /// \param[in] _mat Material that specifies a density. Uniform density
    /// is used.
    /// \param[in] _size Size of equivalent box.
    /// \param[in] _rot Rotational offset of equivalent box.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromBox(const Material &_mat,
                            const Vector3<T> &_size,
                          const Quaternion<T> &_rot = Quaternion<T>::Identity)
   {
      T volume = _size.X() * _size.Y() * _size.Z();
      return this->SetFromBox(_mat.Density() * volume, _size, _rot);
   }

    /// \brief Set inertial properties based on mass and equivalent box.
    /// \param[in] _mass Mass to set.
    /// \param[in] _size Size of equivalent box.
    /// \param[in] _rot Rotational offset of equivalent box.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromBox(const T _mass,
                            const Vector3<T> &_size,
                          const Quaternion<T> &_rot = Quaternion<T>::Identity)
    {
      // Check that _mass and _size are strictly positive
      // and that quaternion is valid
      if (_mass <= 0 || _size.Min() <= 0 || _rot == Quaternion<T>::Zero)
      {
        return false;
      }
      this->SetMass(_mass);
      return this->SetFromBox(_size, _rot);
    }

    /// \brief Set inertial properties based on equivalent box
    /// using the current mass value.
    /// \param[in] _size Size of equivalent box.
    /// \param[in] _rot Rotational offset of equivalent box.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromBox(const Vector3<T> &_size,
                          const Quaternion<T> &_rot = Quaternion<T>::Identity)
    {
      // Check that _mass and _size are strictly positive
      // and that quaternion is valid
      if (this->Mass() <= 0 || _size.Min() <= 0 ||
          _rot == Quaternion<T>::Zero)
      {
        return false;
      }

      // Diagonal matrix L with principal moments
      Matrix3<T> L;
      T x2 = std::pow(_size.X(), 2);
      T y2 = std::pow(_size.Y(), 2);
      T z2 = std::pow(_size.Z(), 2);
      L(0, 0) = this->mass / 12.0 * (y2 + z2);
      L(1, 1) = this->mass / 12.0 * (z2 + x2);
      L(2, 2) = this->mass / 12.0 * (x2 + y2);
      Matrix3<T> R(_rot);
      return this->SetMoi(R * L * R.Transposed());
    }

    /// \brief Set inertial properties based on a Material and equivalent
    /// cone aligned with Z axis.
    /// \param[in] _mat Material that specifies a density. Uniform density
    /// is used.
    /// \param[in] _length Length of cone along Z axis.
    /// \param[in] _radius Radius of cone.
    /// \param[in] _rot Rotational offset of equivalent cone.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromConeZ(const Material &_mat,
                              const T _length,
                              const T _radius,
                              const Quaternion<T> &_rot =
                              Quaternion<T>::Identity)
    {
      // Check that density, _radius and _length are strictly positive
      // and that quaternion is valid
      if (_mat.Density() <= 0 || _length <= 0 || _radius <= 0 ||
          _rot == Quaternion<T>::Zero)
      {
        return false;
      }
      T volume = GZ_PI * _radius * _radius * _length / 3.0;
      return this->SetFromConeZ(_mat.Density() * volume,
                                    _length, _radius, _rot);
    }

    /// \brief Set inertial properties based on mass and equivalent cone
    /// aligned with Z axis.
    /// \param[in] _mass Mass to set.
    /// \param[in] _length Length of cone along Z axis.
    /// \param[in] _radius Radius of cone.
    /// \param[in] _rot Rotational offset of equivalent cone.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromConeZ(const T _mass,
                              const T _length,
                              const T _radius,
                              const Quaternion<T> &_rot =
                              Quaternion<T>::Identity)
    {
      // Check that _mass, _radius and _length are strictly positive
      // and that quaternion is valid
      if (_mass <= 0 || _length <= 0 || _radius <= 0 ||
          _rot == Quaternion<T>::Zero)
      {
        return false;
      }
      this->SetMass(_mass);
      return this->SetFromConeZ(_length, _radius, _rot);
    }

    /// \brief Set inertial properties based on equivalent cone
    /// aligned with Z axis using the current mass value.
    /// \param[in] _length Length of cone along Z axis.
    /// \param[in] _radius Radius of cone.
    /// \param[in] _rot Rotational offset of equivalent cone.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromConeZ(const T _length,
                              const T _radius,
                              const Quaternion<T> &_rot)
    {
      // Check that _mass and _size are strictly positive
      // and that quaternion is valid
      if (this->Mass() <= 0 || _length <= 0 || _radius <= 0 ||
          _rot == Quaternion<T>::Zero)
      {
        return false;
      }

      // Diagonal matrix L with principal moments
      T radius2 = std::pow(_radius, 2);
      Matrix3<T> L;
      L(0, 0) = 3.0 * this->mass * (4.0 * radius2 +
                std::pow(_length, 2)) / 80.0;
      L(1, 1) = L(0, 0);
      L(2, 2) = 3.0 * this->mass * radius2 / 10.0;
      Matrix3<T> R(_rot);
      return this->SetMoi(R * L * R.Transposed());
    }

    /// \brief Set inertial properties based on a Material and equivalent
    /// cylinder aligned with Z axis.
    /// \param[in] _mat Material that specifies a density. Uniform density
    /// is used.
    /// \param[in] _length Length of cylinder along Z axis.
    /// \param[in] _radius Radius of cylinder.
    /// \param[in] _rot Rotational offset of equivalent cylinder.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromCylinderZ(const Material &_mat,
                                  const T _length,
                                  const T _radius,
                          const Quaternion<T> &_rot = Quaternion<T>::Identity)
    {
      // Check that density, _radius and _length are strictly positive
      // and that quaternion is valid
      if (_mat.Density() <= 0 || _length <= 0 || _radius <= 0 ||
          _rot == Quaternion<T>::Zero)
      {
        return false;
      }
      T volume = GZ_PI * _radius * _radius * _length;
      return this->SetFromCylinderZ(_mat.Density() * volume,
                                    _length, _radius, _rot);
    }

    /// \brief Set inertial properties based on mass and equivalent cylinder
    /// aligned with Z axis.
    /// \param[in] _mass Mass to set.
    /// \param[in] _length Length of cylinder along Z axis.
    /// \param[in] _radius Radius of cylinder.
    /// \param[in] _rot Rotational offset of equivalent cylinder.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromCylinderZ(const T _mass,
                                  const T _length,
                                  const T _radius,
                          const Quaternion<T> &_rot = Quaternion<T>::Identity)
    {
      // Check that _mass, _radius and _length are strictly positive
      // and that quaternion is valid
      if (_mass <= 0 || _length <= 0 || _radius <= 0 ||
          _rot == Quaternion<T>::Zero)
      {
        return false;
      }
      this->SetMass(_mass);
      return this->SetFromCylinderZ(_length, _radius, _rot);
    }

    /// \brief Set inertial properties based on equivalent cylinder
    /// aligned with Z axis using the current mass value.
    /// \param[in] _length Length of cylinder along Z axis.
    /// \param[in] _radius Radius of cylinder.
    /// \param[in] _rot Rotational offset of equivalent cylinder.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromCylinderZ(const T _length,
                                  const T _radius,
                                  const Quaternion<T> &_rot)
    {
      // Check that _mass and _size are strictly positive
      // and that quaternion is valid
      if (this->Mass() <= 0 || _length <= 0 || _radius <= 0 ||
          _rot == Quaternion<T>::Zero)
      {
        return false;
      }

      // Diagonal matrix L with principal moments
      T radius2 = std::pow(_radius, 2);
      Matrix3<T> L;
      L(0, 0) = this->mass / 12.0 * (3*radius2 + std::pow(_length, 2));
      L(1, 1) = L(0, 0);
      L(2, 2) = this->mass / 2.0 * radius2;
      Matrix3<T> R(_rot);
      return this->SetMoi(R * L * R.Transposed());
    }

    /// \brief Set inertial properties based on a material and
    /// equivalent sphere.
    /// \param[in] _mat Material that specifies a density. Uniform density
    /// is used.
    /// \param[in] _radius Radius of equivalent, uniform sphere.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromSphere(const Material &_mat, const T _radius)
    {
      // Check that the density and _radius are strictly positive
      if (_mat.Density() <= 0 || _radius <= 0)
      {
        return false;
      }

      T volume = (4.0/3.0) * GZ_PI * std::pow(_radius, 3);
      return this->SetFromSphere(_mat.Density() * volume, _radius);
    }

    /// \brief Set inertial properties based on mass and equivalent sphere.
    /// \param[in] _mass Mass to set.
    /// \param[in] _radius Radius of equivalent, uniform sphere.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromSphere(const T _mass, const T _radius)
    {
      // Check that _mass and _radius are strictly positive
      if (_mass <= 0 || _radius <= 0)
      {
        return false;
      }
      this->SetMass(_mass);
      return this->SetFromSphere(_radius);
    }

    /// \brief Set inertial properties based on equivalent sphere
    /// using the current mass value.
    /// \param[in] _radius Radius of equivalent, uniform sphere.
    /// \return True if inertial properties were set successfully.
    public: bool SetFromSphere(const T _radius)
    {
      // Check that _mass and _radius are strictly positive
      if (this->Mass() <= 0 || _radius <= 0)
      {
        return false;
      }

      // Diagonal matrix L with principal moments
      T radius2 = std::pow(_radius, 2);
      Matrix3<T> L;
      L(0, 0) = 0.4 * this->mass * radius2;
      L(1, 1) = 0.4 * this->mass * radius2;
      L(2, 2) = 0.4 * this->mass * radius2;
      return this->SetMoi(L);
    }

    /// \brief Square root of positive numbers, otherwise zero.
    /// \param[in] _x Number to be square rooted.
    /// \return sqrt(_x) if _x > 0, otherwise 0
    private: static inline T ClampedSqrt(const T &_x)
    {
      if (_x <= 0)
        return 0;
      return sqrt(_x);
    }

    /// \brief Angle formed by direction of a Vector2.
    /// \param[in] _v Vector whose direction is to be computed.
    /// \param[in] _eps Minimum length of vector required for computing angle.
    /// \return Angle formed between vector and X axis,
    /// or zero if vector has length less than 1e-6.
    private: static T Angle2(const Vector2<T> &_v, const T _eps = 1e-6)
    {
      if (_v.SquaredLength() < std::pow(_eps, 2))
        return 0;
      return atan2(_v[1], _v[0]);
    }

    /// \brief Mass of the object. Default is 0.0.
    private: T mass;

    /// \brief Principal moments of inertia. Default is (0.0 0.0 0.0)
    /// These Moments of Inertia are specified in the local frame.
    /// Where Ixxyyzz.x is Ixx, Ixxyyzz.y is Iyy and Ixxyyzz.z is Izz.
    private: Vector3<T> Ixxyyzz;

    /// \brief Product moments of inertia. Default is (0.0 0.0 0.0)
    /// These MOI off-diagonals are specified in the local frame.
    /// Where Ixyxzyz.x is Ixy, Ixyxzyz.y is Ixz and Ixyxzyz.z is Iyz.
    private: Vector3<T> Ixyxzyz;
  };

  typedef MassMatrix3<double> MassMatrix3d;
  typedef MassMatrix3<float> MassMatrix3f;
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_MASSMATRIX3_HH_
